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image_ir.h
/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2011 Willow Garage, Inc.
*
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* * Neither the name of the copyright holder(s) nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
*/
#pragma once
#include <chrono>
#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/io/image_metadata_wrapper.h>
namespace pcl
{
namespace io
{
/**
* @brief Class containing just a reference to IR meta data.
*/
class PCL_EXPORTS IRImage
{
public:
using Ptr = shared_ptr<IRImage>;
using ConstPtr = shared_ptr<const IRImage>;
using Clock = std::chrono::high_resolution_clock;
using Timestamp = std::chrono::high_resolution_clock::time_point;
IRImage (FrameWrapper::Ptr ir_metadata);
IRImage (FrameWrapper::Ptr ir_metadata, Timestamp time);
~IRImage () noexcept = default;
void
fillRaw (unsigned width, unsigned height, unsigned short* ir_buffer, unsigned line_step = 0) const;
unsigned
getWidth () const;
unsigned
getHeight () const;
unsigned
getFrameID () const;
std::uint64_t
getTimestamp () const;
Timestamp
getSystemTimestamp () const;
// Get a const pointer to the raw depth buffer. If the data is accessed just read-only, then this method is faster than a fillXXX method
const unsigned short*
getData ();
// Data buffer size in bytes
int
getDataSize () const;
// Size of each row, including any padding
inline unsigned
getStep() const
{
return (getDataSize() / getHeight());
}
/** \brief method to access the internal data structure wrapper, which needs to be cast to an
* approperate subclass before the getMetadata(..) function is available to access the native data type.
*/
const FrameWrapper::Ptr
getMetaData () const;
protected:
FrameWrapper::Ptr wrapper_;
Timestamp timestamp_;
};
} // namespace
}
pcl::io::FrameWrapper::Ptr
shared_ptr< FrameWrapper > Ptr
Definition image_metadata_wrapper.h:56
pcl::io::IRImage::ConstPtr
shared_ptr< const IRImage > ConstPtr
Definition image_ir.h:58
pcl::io::IRImage::IRImage
IRImage(FrameWrapper::Ptr ir_metadata)
pcl::io::IRImage::getStep
unsigned getStep() const
Definition image_ir.h:96
pcl::io::IRImage::getHeight
unsigned getHeight() const
pcl::io::IRImage::IRImage
IRImage(FrameWrapper::Ptr ir_metadata, Timestamp time)
pcl::io::IRImage::getMetaData
const FrameWrapper::Ptr getMetaData() const
method to access the internal data structure wrapper, which needs to be cast to an approperate subcla...
pcl::io::IRImage::Clock
std::chrono::high_resolution_clock Clock
Definition image_ir.h:60
pcl::io::IRImage::getTimestamp
std::uint64_t getTimestamp() const
pcl::io::IRImage::getFrameID
unsigned getFrameID() const
pcl::io::IRImage::getData
const unsigned short * getData()
pcl::io::IRImage::getWidth
unsigned getWidth() const
pcl::io::IRImage::getSystemTimestamp
Timestamp getSystemTimestamp() const
pcl::io::IRImage::fillRaw
void fillRaw(unsigned width, unsigned height, unsigned short *ir_buffer, unsigned line_step=0) const
pcl::io::IRImage::timestamp_
Timestamp timestamp_
Definition image_ir.h:109
pcl::io::IRImage::Timestamp
std::chrono::high_resolution_clock::time_point Timestamp
Definition image_ir.h:61
pcl::io::IRImage::Ptr
shared_ptr< IRImage > Ptr
Definition image_ir.h:57
pcl::io::IRImage::wrapper_
FrameWrapper::Ptr wrapper_
Definition image_ir.h:108
pcl::io::IRImage::~IRImage
~IRImage() noexcept=default
pcl::io::IRImage::getDataSize
int getDataSize() const
memory.h
Defines functions, macros and traits for allocating and using memory.
pcl::io
Definition io.h:517
pcl
Definition convolution.h:46
pcl_macros.h
Defines all the PCL and non-PCL macros used.